Related papers: Rethinking Collision Detection on GPU Ray Tracing …
While expensive LiDAR and stereo camera rigs have enabled the development of successful 3D object detection methods, monocular RGB-only approaches lag much behind. This work advances the state of the art by introducing MoVi-3D, a novel,…
General Purpose computing on Graphical Processing Units (GPGPU) has resulted in unprecedented levels of speedup over its CPU counterparts, allowing programmers to harness the computational power of GPU shader cores to accelerate other…
Splotch is a rendering algorithm for exploration and visual discovery in particle-based datasets coming from astronomical observations or numerical simulations. The strengths of the approach are production of high quality imagery and…
3D object detection plays a pivotal role in many applications, most notably autonomous driving and robotics. These applications are commonly deployed on edge devices to promptly interact with the environment, and often require near…
Collision detection is a core component of robotics applications such as simulation, control, and planning. Traditional algorithms like GJK+EPA compute witness points (i.e., the closest or deepest-penetration pairs between two objects) but…
Stereo depth estimation is a critical task in autonomous driving and robotics, where inaccuracies (such as misidentifying nearby objects as distant) can lead to dangerous situations. Adversarial attacks against stereo depth estimation can…
Potholes are one of the most common forms of road damage, which can severely affect driving comfort, road safety and vehicle condition. Pothole detection is typically performed by either structural engineers or certified inspectors. This…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
These notes accompany the open-source code published in GitHub which implements a GPU-based line-segment, surface-triangle intersection algorithm in CUDA. It mentions some relevant works and discusses issues specific to this implementation.…
Collision detection plays an important role in simulation, control, and learning for robotic systems. However, no existing method is differentiable with respect to the configurations of the objects, greatly limiting the sort of algorithms…
Significance: Monte Carlo (MC) methods are the gold-standard for modeling light-tissue interactions due to their accuracy. Mesh-based MC (MMC) offers enhanced precision for complex tissue structures using tetrahedral mesh models. Despite…
Object tracking is an essential problem in computer vision that has been researched for several decades. One of the main challenges in tracking is to adapt to object appearance changes over time and avoiding drifting to background clutter.…
Computation of bounding boxes is a fundamental problem in high performance rendering, as it is an input to visibility culling and binning operations. In a scene description structured as a tree, clip nodes and blend nodes entail…
Ray tracing (RT) is a 3D graphics technique that offers highly realistic visuals. It is becoming prominent and accessible as GPU vendors have integrated dedicated ray tracing acceleration hardware. However, tracing millions of rays through…
Visual defect detection plays an important role in intelligent industry. Patch based methods consider visual images as a collection of image patches according to positions, which have stronger discriminative ability for small defects in…
In this paper, we introduce DCDepth, a novel framework for the long-standing monocular depth estimation task. Moving beyond conventional pixel-wise depth estimation in the spatial domain, our approach estimates the frequency coefficients of…
Mixed reality applications often require virtual objects that are partly occluded by real objects. However, previous research and commercial products have limitations in terms of performance and efficiency. To address these challenges, we…
Monocular 3D object detection has attracted widespread attention due to its potential to accurately obtain object 3D localization from a single image at a low cost. Depth estimation is an essential but challenging subtask of monocular 3D…
Technological development aims to produce generations of increasingly efficient robots able to perform complex tasks. This requires considerable efforts, from the scientific community, to find new algorithms that solve computer vision…
The objective of trajectory optimization algorithms is to achieve an optimal collision-free path between a start and goal state. In real-world scenarios where environments can be complex and non-homogeneous, a robot needs to be able to…